static_cache.cpp

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
 * 
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 * 
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 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 * 
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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#include "tf2/time_cache.h"
#include "tf2/exceptions.h"

#include "tf2/LinearMath/btTransform.h"


using namespace tf2;


bool StaticCache::getData(ros::Time time, TransformStorage & data_out, std::string* error_str) //returns false if data not available
{
  data_out = storage_;
  data_out.stamp_ = time;
  return true;
};

bool StaticCache::insertData(const TransformStorage& new_data)
{
  storage_ = new_data;
  return true;
};




void StaticCache::clearList() { return; };

unsigned int StaticCache::getListLength() {   return 1; };

CompactFrameID StaticCache::getParent(ros::Time time, std::string* error_str)
{
  return storage_.frame_id_;
}

P_TimeAndFrameID StaticCache::getLatestTimeAndParent()
{
  return std::make_pair(ros::Time(), storage_.frame_id_);
}

ros::Time StaticCache::getLatestTimestamp() 
{   
  return ros::Time();
};

ros::Time StaticCache::getOldestTimestamp() 
{   
  return ros::Time();
};